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cs.RO updates on arXiv.org

FineCog-Nav: Integrating Fine-grained Cognitive Modules for Zero-shot Multimodal UAV Navigation DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs SENSE: Stereo OpEN Vocabulary SEmantic Segmentation Continual Hand-Eye Calibration for Open-world Robotic Manipulation PLAF: Pixel-wise Language-Aligned Feature Extraction for Efficient 3D Scene Understanding GaussianFlow SLAM: Monocular Gaussian Splatting SLAM Guided by GaussianFlow GIST: Multimodal Knowledge Extraction and Spatial Grounding via Intelligent Semantic Topology $π_{0.7}$: a Steerable Generalist Robotic Foundation Model with Emergent Capabilities R3D: Revisiting 3D Policy Learning Vision-Based Safe Human-Robot Collaboration with Uncertainty Guarantees Benchmarking Classical Coverage Path Planning Heuristics on Irregular Hexagonal Grids for Maritime Coverage Scenarios NEAT-NC: NEAT guided Navigation Cells for Robot Path Planning HRDexDB: A Large-Scale Dataset of Dexterous Human and Robotic Hand Grasps ADAPT: Benchmarking Commonsense Planning under Unspecified Affordance Constraints An Intelligent Robotic and Bio-Digestor Framework for Smart Waste Management Efficient closed-form approaches for pose estimation using Sylvester forms World-Value-Action Model: Implicit Planning for Vision-Language-Action Systems A Nonasymptotic Theory of Gain-Dependent Error Dynamics in Behavior Cloning CooperDrive: Enhancing Driving Decisions Through Cooperative Perception SpaceMind: A Modular and Self-Evolving Embodied Vision-Language Agent Framework for Autonomous On-orbit Servicing HiVLA: A Visual-Grounded-Centric Hierarchical Embodied Manipulation System UMI-3D: Extending Universal Manipulation Interface from Vision-Limited to 3D Spatial Perception Towards Multi-Object-Tracking with Radar on a Fast Moving Vehicle: On the Potential of Processing Radar in the Frequency Domain Beyond Conservative Automated Driving in Multi-Agent Scenarios via Coupled Model Predictive Control and Deep Reinforcement Learning Failure Identification in Imitation Learning Via Statistical and Semantic Filtering A Dynamic-Growing Fuzzy-Neuro Controller, Application to a 3PSP Parallel Robot Vision-Language-Action Jump-Starting for Reinforcement Learning Robotic Agents A Mechanistic Analysis of Sim-and-Real Co-Training in Generative Robot Policies ESCAPE: Episodic Spatial Memory and Adaptive Execution Policy for Long-Horizon Mobile Manipulation Evolvable Embodied Agent for Robotic Manipulation via Long Short-Term Reflection and Optimization
Learning Vision-based Robotic Manipulation Tasks Sequenti...
Sudhir Pratap Yadav, Rajendra Nagar, Suril V. Shah · 2023-01-31 · via cs.RO updates on arXiv.org

With the rise of deep reinforcement learning (RL) methods, many complex robotic manipulation tasks are being solved. However, harnessing the full power of deep learning requires large datasets. Online-RL does not suit itself readily into this paradigm due to costly and time-taking agent environment interaction. Therefore recently, many offline-RL algorithms have been proposed to learn robotic tasks. But mainly, all such methods focus on a single task or multi-task learning, which requires retraining every time we need to learn a new task. Continuously learning tasks without forgetting previous knowledge combined with the power of offline deep-RL would allow us to scale the number of tasks by keep adding them one-after-another. In this paper, we investigate the effectiveness of regularisation-based methods like synaptic intelligence for sequentially learning image-based robotic manipulation tasks in an offline-RL setup. We evaluate the performance of this combined framework against common challenges of sequential learning: catastrophic forgetting and forward knowledge transfer. We performed experiments with different task combinations to analyze the effect of task ordering. We also investigated the effect of the number of object configurations and density of robot trajectories. We found that learning tasks sequentially helps in the propagation of knowledge from previous tasks, thereby reducing the time required to learn a new task. Regularisation based approaches for continuous learning like the synaptic intelligence method although helps in mitigating catastrophic forgetting but has shown only limited transfer of knowledge from previous tasks.